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在近程导引段,采用偏心连续小推力矢量推进器和力矩输出装置,实现对特定目标的直线逼近、绕飞,同时完成轨道控制和视线姿态稳定。基于T-H方程和误差四元数建立相对姿轨耦合动力学模型,分别对直线逼近段和绕飞段设计相对位置期望轨线,期望姿态由视线方向计算得到。经典θ-D方法仅在起点处线性化动力学方程,稳定邻域范围有限,不能满足逼近和绕飞相对状态大范围变化的要求。因此基于滚动优化思想,提出分段线性化θ-D次优控制器设计方法,实现相对运动姿轨协同控制。其中姿态直接采用误差四元数矢量部分作状态反馈,降维处理姿轨耦合状态方程。仿真结果表明了该方法的有效性和实用性。
In the short-range guidance segment, the eccentric continuous small thrust vector propulsion and torque output device are used to realize the straight-line approach and fly-around to a specific target while completing the orbit control and the sight-line attitude stabilization. Based on the T-H equation and the quaternion of error, a relative attitude-coupled dynamic model is established, and the expected orbit of the relative position and the winding section are designed respectively. The expected attitude is calculated from the direction of the line of sight. The classical θ-D method only linearizes the dynamic equation at the starting point, and the stable neighborhood has a limited range, which can not meet the requirements of large-scale changes in approximation and relative flight around the fly. Therefore, based on the idea of rolling optimization, a piecewise linearized θ-D suboptimal controller design method is proposed to realize the coordinated control of relative motion and attitude. The attitude directly uses the error quaternion vector part for state feedback, and reduces the dimension to deal with the attitude-rail coupled state equation. Simulation results show the effectiveness and practicability of this method.